EP2595135A1 - Verfahren und Anordnung zur Kollisionsvermeidung - Google Patents

Verfahren und Anordnung zur Kollisionsvermeidung Download PDF

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Publication number
EP2595135A1
EP2595135A1 EP11189385.5A EP11189385A EP2595135A1 EP 2595135 A1 EP2595135 A1 EP 2595135A1 EP 11189385 A EP11189385 A EP 11189385A EP 2595135 A1 EP2595135 A1 EP 2595135A1
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EP
European Patent Office
Prior art keywords
establishing
host vehicle
obstacles
target object
vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP11189385.5A
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English (en)
French (fr)
Inventor
Andreas Eidehall
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Volvo Car Corp
Original Assignee
Volvo Car Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Volvo Car Corp filed Critical Volvo Car Corp
Priority to EP11189385.5A priority Critical patent/EP2595135A1/de
Publication of EP2595135A1 publication Critical patent/EP2595135A1/de
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Definitions

  • Embodiments herein relate to an arrangement for improving the performance of an automotive vehicle collision avoidance system in accordance with the preamble of claim 1.
  • Embodiments herein further relate to a method for improving the performance of an automotive vehicle collision avoidance system in accordance with the preamble of claim 6.
  • State-of-the-art collision avoidance technology relies on in-vehicle sensors like radars and cameras that constantly monitor the area in front of the vehicle. If the vehicle approaches another vehicle and the driver needs to undertake an action to avoid an accident, an audible and/or visible warning is provided in order to increase the driver's attention in such a way that he or she can avoid or mitigate the accident. If the driver does not intervene in spite of the warning and the collision threat becomes imminent, intervention braking may be automatically applied to slow down the vehicle.
  • Imminent refers to the situation where it is judged that an accident cannot physically be avoided by the driver through braking, steering or accelerating. In this way it may not be possible for the collision avoidance/collision mitigation system to always avoid a collision, but it may still serve to reduce impact speed and thus mitigate the risk of severe consequences.
  • Collision avoidance systems may use sensors such as RADAR (RAdio Detection And Ranging), LIDAR (Light Detection And Ranging), LASER (Light Amplification by Stimulated Emission of Radiation) and cameras to monitor the region in front of the host vehicle.
  • a tracking algorithm may be used to estimate the state of the objects ahead (targets) and a decision algorithm may use the estimated states to determine any action, e.g. warning the driver or perform autonomous braking.
  • Embodiments herein aim to provide an arrangement and method for improving the performance of an automotive vehicle collision avoidance system.
  • an arrangement comprising: means for establishing the presence of a target object in front of a vehicle hosting said arrangement; and means for performing an assessment of the risk of a collision between the host vehicle and the target object; and means for initiating automatic emergency braking of the host vehicle based on the risk assessment, characterized in that it further comprises means for establishing the presence of one or more further obstacles preventing the host vehicle to safely steer past the target object; whereby the means for performing the risk assessment further are configured to include an established presence of a target object and one or more such further obstacles in the risk assessment.
  • the provision of means for establishing the presence of one or more further obstacles preventing the host vehicle to safely steer past the target object ensures that automatic emergency braking may be initiated earlier if the host vehicle is prevented from avoiding a collision by safely steering past the target object. Earlier initiation of automatic emergency braking makes it possible to reduce the velocity of the host vehicle to a greater extent in order to avoid or mitigate a potential collision.
  • the means for establishing the presence of one or more further obstacles comprises means for lateral and rear end monitoring of an area surrounding the host vehicle.
  • the provision of means for lateral and rear end monitoring, as described for the second aspect, enables establishing obstacles adjacent the host vehicle or approaching from behind the host vehicle.
  • the means for establishing the presence of one or more further obstacles comprises an arrangement for Rear and Side Detection and Lane Change Merge Assist configured to establish the presence of any further obstacles behind and adjacent the host vehicle.
  • Utilization of an arrangement for Rear and Side Detection and Lane Change Merge Assist allows for integration with potentially already present systems for configured to establish the presence of any further obstacles.
  • cost efficient and integration into new vehicles and potentially also retrofitting of current vehicles provided with an arrangement for Rear and Side Detection and Lane Change Merge Assist is enabled.
  • the means for establishing the presence of one or more further obstacles comprises one or more sensors based on at least one of technologies such as RAdio Detection And Ranging, Light Detection And Ranging, Light Amplification by Stimulated Emission of Radiation and cameras.
  • the means for establishing the presence of one or more further obstacles further are arranged to establish data relating to one or more of a size, position, velocity, direction of travel, acceleration and deceleration of any such further obstacles established present, whereby the means for performing the risk assessment further are configured to include such data in the risk assessment.
  • the method provides for the same advantages as described above for aspects of the arrangement.
  • inventions herein relate to an arrangement 1 for improving the performance of an automotive vehicle collision avoidance system.
  • the arrangement comprises means 2 for establishing the presence of a target object 3, in front of a vehicle 4 hosting the arrangement 1.
  • Figure 2 illustrates a host vehicle 4 according to figure 1 traveling at a three lane road comprising additional vehicles 3, 8.
  • the host vehicle 4 has a breaking system such as an Antilock Brake System (ABS system), e.g. with brake discs 11 and appertaining calipers 12 associated with each of the front wheels 9 and rear wheels 10 of the host vehicle 4.
  • ABS system Antilock Brake System
  • the means 2 for establishing the presence of a target object 3 in front of the host vehicle 4 will usually comprise one or more sensors based on at least one of technologies such as RAdio Detection And Ranging (RADAR), LIght Detection And Ranging (LIDAR), Light Amplification by Stimulated Emission of Radiation (LASER) and cameras arranged to monitor the region in front of the host vehicle 4.
  • RADAR RAdio Detection And Ranging
  • LIDAR LIght Detection And Ranging
  • LASER Light Amplification by Stimulated Emission of Radiation
  • the arrangement 1 further comprises means 5 for performing an assessment of the risk of a collision between the host vehicle 4 and the target object 3.
  • means 5 for performing the risk assessment are suitably implemented as a combination of a micro-processor and associated software. Decision algorithms comprised in the software when executed continuously evaluate the risk for a collision.
  • the arrangement 1 comprises means 6 for initiating automatic emergency braking of the host vehicle 4 based on the risk assessment performed.
  • These means 6 are suitably integral to or operatively connected to a brake controller of a brake system of the host vehicle 4.
  • the arrangement further comprises means 7 for establishing the presence of one or more further obstacles 8 preventing the host vehicle 4 to safely steer past the target object 3.
  • the means 5 for performing the risk assessment are further configured to include an established presence of a target object 3 and one or more such further obstacles 8 in the risk assessment.
  • multi target/obstacle 3, 8 threat assessment may be carried out on several targets/obstacles 3, 8 whereby a decision to apply the brakes of the host vehicle 4 may be taken based at more complete information related to the current collision threat.
  • the arrangement provides for Automatic Emergency Braking (AEB) where braking intervention may be performed earlier if determined that adjacent lanes are blocked. This as braking only will be initiated once it is judged that an accident cannot physically be avoided by the driver of the host vehicle 4 through performing a steering operation, which normally will be possible closer to a potential collision object, i.e. target object 3, than it will be possible to avoid a collision therewith through braking.
  • AEB Automatic Emergency Braking
  • a target object 3 such as a forward vehicle
  • obstacles 8 such as a road barrier or another vehicle in an adjacent lane.
  • a decision that a collision is unavoidable may be taken by the means 5 for performing the risk assessment at an earlier point in time, whereby a larger amount of speed reduction may be provided through automatic emergency braking.
  • the means 7 for establishing the presence of one or more further obstacles 8 still further comprises means for lateral and rear end monitoring of an area surrounding the host vehicle 4.
  • an arrangement for Rear and Side Detection and Lane Change Merge Assist configured to establish the presence of any further obstacles 8 behind and adjacent the host vehicle 4 may be relied on as the means 7 for establishing the presence of one or more further obstacles 8.
  • cost efficient and integration into vehicles provided with an arrangement for Rear and Side Detection and Lane Change Merge Assist is enabled.
  • the means 7 for establishing the presence of one or more further obstacles 8 comprises one or more sensors based on at least one of technologies such as RAdio Detection And Ranging (RADAR), LIght Detection And Ranging (LIDAR), Light Amplification by Stimulated Emission of Radiation (LASER) and cameras.
  • RADAR RAdio Detection And Ranging
  • LIDAR LIght Detection And Ranging
  • LASER Light Amplification by Stimulated Emission of Radiation
  • the means 7 for establishing the presence of one or more further obstacles 8 are further arranged to establish data relating to one or more of a size, position, velocity, direction of travel, acceleration and deceleration of any such further obstacles 8 established present.
  • the means 5 for performing the risk assessment are further configured to include such data relating to one or more of a size, position, velocity, direction of travel, acceleration and deceleration of any such further obstacles 8 established present in the risk assessment.
  • the present application also provides a method for improving the performance of an automotive vehicle collision avoidance system.
  • the method comprises the steps of:
  • the step of establishing the presence of one or more further obstacles 8 further includes lateral and rear end monitoring of an area surrounding the host vehicle 4.
  • the step of establishing the presence of one or more further obstacles 8 further includes using an arrangement for Rear and Side Detection and Lane Change Merge Assist to establish the presence of any further obstacles 8 behind and adjacent the host vehicle 4.
  • the step of establishing the presence of one or more further obstacles 8 further includes using one or more sensors based on technologies such as RAdio Detection And Ranging (RADAR), LIght Detection And Ranging (LIDAR), Light Amplification by Stimulated Emission of Radiation (LASER) and cameras.
  • RADAR RAdio Detection And Ranging
  • LIDAR LIght Detection And Ranging
  • LASER Light Amplification by Stimulated Emission of Radiation
  • the step of establishing the presence of one or more further obstacles 8 further includes establishing data relating to one or more of a size, position, velocity, direction of travel, acceleration and deceleration of any such further obstacles 8 established present, and the step of performing the risk assessment further is performed including such data in the risk assessment.
  • a vehicle comprising an arrangement as described above.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
EP11189385.5A 2011-11-16 2011-11-16 Verfahren und Anordnung zur Kollisionsvermeidung Withdrawn EP2595135A1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP11189385.5A EP2595135A1 (de) 2011-11-16 2011-11-16 Verfahren und Anordnung zur Kollisionsvermeidung

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP11189385.5A EP2595135A1 (de) 2011-11-16 2011-11-16 Verfahren und Anordnung zur Kollisionsvermeidung

Publications (1)

Publication Number Publication Date
EP2595135A1 true EP2595135A1 (de) 2013-05-22

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EP11189385.5A Withdrawn EP2595135A1 (de) 2011-11-16 2011-11-16 Verfahren und Anordnung zur Kollisionsvermeidung

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103625463A (zh) * 2013-11-29 2014-03-12 浙江吉利控股集团有限公司 一种车辆自动控制制动的方法及装置
JP2018526267A (ja) * 2015-09-01 2018-09-13 コンティ テミック マイクロエレクトロニック ゲゼルシャフト ミット ベシュレンクテル ハフツングＣｏｎｔｉ Ｔｅｍｉｃ ｍｉｃｒｏｅｌｅｃｔｒｏｎｉｃ ＧｍｂＨ 車両用の緊急ブレーキ・アシスタント
CN109109841A (zh) * 2018-07-13 2019-01-01 金龙联合汽车工业（苏州）有限公司 一种适用于气制动商用车的自动紧急制动系统
CN112506194A (zh) * 2020-12-03 2021-03-16 中山大学 一种移动机器人集群分布式安全学习控制方法
US11479220B2 (en) * 2019-06-07 2022-10-25 Ford Global Technologies, Llc Adaptive cruise control
US11733695B2 (en) 2015-10-16 2023-08-22 Lemmings, Llc Robotic vehicle
WO2024132361A1 (en) 2022-12-19 2024-06-27 Zf Cv Systems Global Gmbh Method for braking a vehicle, emergency braking system and vehicle

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040030497A1 (en) * 2001-07-11 2004-02-12 Michael Knoop Method and device for automatically triggering a vehicle deceleration
WO2008020290A1 (en) * 2006-08-15 2008-02-21 Toyota Jidosha Kabushiki Kaisha Braking control system and braking control method
US20110178710A1 (en) * 2010-01-15 2011-07-21 Ford Global Technologies, Llc Collision mitigation system and method for braking a vehicle

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040030497A1 (en) * 2001-07-11 2004-02-12 Michael Knoop Method and device for automatically triggering a vehicle deceleration
WO2008020290A1 (en) * 2006-08-15 2008-02-21 Toyota Jidosha Kabushiki Kaisha Braking control system and braking control method
US20110178710A1 (en) * 2010-01-15 2011-07-21 Ford Global Technologies, Llc Collision mitigation system and method for braking a vehicle

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103625463A (zh) * 2013-11-29 2014-03-12 浙江吉利控股集团有限公司 一种车辆自动控制制动的方法及装置
CN103625463B (zh) * 2013-11-29 2016-08-17 浙江吉利控股集团有限公司 一种车辆自动控制制动的方法及装置
JP2018526267A (ja) * 2015-09-01 2018-09-13 コンティ テミック マイクロエレクトロニック ゲゼルシャフト ミット ベシュレンクテル ハフツングＣｏｎｔｉ Ｔｅｍｉｃ ｍｉｃｒｏｅｌｅｃｔｒｏｎｉｃ ＧｍｂＨ 車両用の緊急ブレーキ・アシスタント
US11733695B2 (en) 2015-10-16 2023-08-22 Lemmings, Llc Robotic vehicle
CN109109841A (zh) * 2018-07-13 2019-01-01 金龙联合汽车工业（苏州）有限公司 一种适用于气制动商用车的自动紧急制动系统
US11479220B2 (en) * 2019-06-07 2022-10-25 Ford Global Technologies, Llc Adaptive cruise control
CN112506194A (zh) * 2020-12-03 2021-03-16 中山大学 一种移动机器人集群分布式安全学习控制方法
CN112506194B (zh) * 2020-12-03 2022-03-29 中山大学 一种移动机器人集群分布式安全学习控制方法
WO2024132361A1 (en) 2022-12-19 2024-06-27 Zf Cv Systems Global Gmbh Method for braking a vehicle, emergency braking system and vehicle

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